#!/usr/bin/env python3
import numpy as np
import math

class Parameter:
    N = 0.03  # [m] 一个删格大小
    MAP_SIZE = [int(3 / N), int(3 / N)]  # [m] 地图大小,长宽比3：2
    MOVE_STEP = 1 # [珊格] 路径分辨率：离散点之间的距离
    XY_RESO = 1  # [珊格] xy轴分辨率
    YAW_RESO = np.deg2rad(5.0)  # [rad] 转角分辨率
    RE_PlAN_ITER = 1000    # 迭代多少次重规划

    RF = 0.18  # [m] 后轴到前端的距离
    RB = 0.04  # [m] 后轴到后端的距离
    W = 0.19  # [m] 车辆宽度
    WD = 0.19  # [m] 左右车轮之间的距离
    WB = 0.145  # [m] 轴距
    TR = 0.03  # [m] 轮胎半径
    TW = 0.025  # [m] 轮胎宽度
    MAX_STEER = math.radians(25)  # [rad] 最大转向角

    PI = math.pi
    N_STEER = 20.0  # steer command number
    COLLISION_CHECK_STEP = 5  # skip number for collision check
    EXTEND_BOUND = 1  # collision check range extended
    GEAR_COST = 100.0  # switch back penalty cost
    BACKWARD_COST = 10000  # backward penalty cost
    STEER_CHANGE_COST = 5.0  # steer angle change penalty cost
    STEER_ANGLE_COST = 100.0  # steer angle penalty cost
    H_COST = 15.0  # Heuristic cost penalty cost